Precessional device and method thereof

ABSTRACT

A precessional device featuring a pair of axles each containing at least one flywheel forming a pair of rotors. The pair of axles are each mounted on circular track assemblies in which they rotate and generate a precessional torque that provides variable resistance along a first axis and a balancing of the precessional torque along a second axis.

BACKGROUND OF THE INVENTION

[0001] 1. Field of the Invention

[0002] This invention relates to precessional devices, and particularly,to a device and method which utilize precessional forces in a controlledmanner.

[0003] 2. Background of the Invention

[0004] Precessional devices operate on the principle that a spinningmass, such as the rotor of a gyroscope, will resist any deflection ofits rotational axis. If the rotational axis is deflected, Newton's Lawof conservation of angular momentum dictates that the gyroscope willexert a precessional force at a right angle to the deflecting force.Precessional devices have performed a variety of functions in suchdiverse fields as navigational equipment and toys.

SUMMARY OF THE INVENTION

[0005] The present invention is briefly described as an apparatus andmethod of using precessional forces in a controlled manner.

[0006] In one aspect, the apparatus includes a first rotor spinning on afirst spin axis and rotating around a rotational axis; and a secondrotor spinning on a second spin axis and rotating around the rotationalaxis.

[0007] In another aspect, the apparatus includes a first rotor spinningon a first spin axis; a second rotor spinning on a second spin axis; thefirst rotor rotating inside a first track assembly; and the second rotorrotating inside a second track assembly.

[0008] In another aspect, the apparatus includes a first rotor spinningon a first spin axis; a second rotor spinning on a second spin axis; thefirst rotor rotating inside a first track assembly; the second rotorrotating inside a second track assembly; and wherein the first andsecond spin axes are located on substantially the same plane.

[0009] In another aspect, the apparatus includes a first rotor spinningon a first spin axis; the first rotor including first and secondflywheels; and the first rotor rotating inside a support structure.

[0010] In another aspect, the apparatus includes a first rotor spinningon a first spin axis and rotating inside a first track assembly; and asecond rotor spinning on the first spin axis.

[0011] In another aspect, the apparatus includes a first rotor spinningon a first spin axis; a second rotor spinning on a second spin axis; anda transmission operatively connected to said first and second rotors.

[0012] In another aspect, the apparatus includes a means for inputting adeflecting torque; and a means for substantially adding precessionaltorques about a first axis and substantially canceling precessionaltorques about a second axis.

[0013] In another aspect, the apparatus includes a first means forproducing precessional torques along a first axis and a second axis; asecond means for producing precessional torques along the first axis andthe second axis; wherein the precesional torques substantially add alongthe first axis and substantially cancel along the second axis.

[0014] In another aspect, the apparatus includes a first means forproducing precessional torques along a first axis and a second axis; asecond means for producing precessional torques along the first axis anda second axis; and wherein the precessional torques create a variableresistance along said first axis.

[0015] In another aspect, the apparatus includes a first means forproducing a plurality of precessional forces acting on a first trackassembly; a second means for producing a plurality of precessionalforces acting on a second track assembly; wherein said first and secondtrack assemblies are connected to form a support structure; a pluralityof handles mounted to the support structure; and wherein theprecessional forces created by said first and second means create avariable resistance at the plurality of handles.

[0016] In another aspect, a method includes inputting a deflectingtorque through a plurality of handles; and pulling and pushing against avariable resistance along one dimension.

[0017] In another aspect, the method includes rotating a first rotoraround a rotational axis; and rotating a second rotor around saidrotational axis in an opposite direction.

[0018] In another aspect, the method includes rotating a first rotoraround a track assembly; rotating a second rotor around a second trackassembly attached to the first track assembly; and creating a variableresistance along one dimension.

[0019] In another aspect, the method includes rotating a first spin axlecontaining a plurality of flywheels around a first track assembly;rotating a second spin axle containing a plurality of flywheels around asecond track assembly in an opposite direction; and outputting avariable resistance along a first axis and substantially cancelingforces acting along a second axis.

[0020] In another aspect, the method includes turning a hand crank toinput a first deflecting torque to a first rotor rotating in a firstdirection and a second deflecting torque to a second rotor rotating in asecond direction within a support structure; and grasping handlesattached to said support structure and inputting a third deflectingtorque against a variable resistance provided by the first and secondrotors.

BRIEF DESCRIPTION OF THE DRAWINGS

[0021]FIG. 1 is a perspective view of a precessional device inaccordance with a first embodiment;

[0022]FIG. 2 is a front elevational view of the device in FIG. 1;

[0023]FIG. 3 is a perspective view of the device in FIG. 1 with partsbroken away to show internal structure;

[0024]FIG. 4A is an exploded perspective view of details of the body ofthe device in FIG. 1;

[0025]FIG. 4B is a side view of the device in FIG. 1 showing the A-A,B-B, C-C, D-D, D′-D′, E-E and E′-E′ axes;

[0026]FIG. 5A is a top perspective view of the track assemblies of thedevice of FIG. 1;

[0027]FIG. 5B is a side elevational view of the track assemblies of thedevice of FIG. 1;

[0028]FIG. 5C is a fragmentary cross-sectional side view showing thedetails of one of the tracks of the device of FIG. 1;

[0029]FIG. 6 is a perspective view of one of the handles of the deviceof FIG. 1;

[0030]FIG. 7A is a perspective view of the first rotor component of thedevice of FIG. 1;

[0031]FIG. 7B is a front elevational view of the first rotor componentof the device of FIG. 1;

[0032]FIG. 7C is a side elevational view of a flywheel of the firstrotor component of FIGS. 7A-7B;

[0033]FIG. 8 is a perspective detailed view of the central column of thedevice of FIG. 1;

[0034]FIG. 9 is a front plan view of a yoke mount assembly of the deviceof FIG. 1;

[0035]FIG. 10A is a perspective view of a yoke component of the deviceof FIG. 1;

[0036]FIG. 10B is a cross-sectional plan view of the yoke of the deviceof FIG. 1 taken on line 10-10 of FIG. 10A;

[0037]FIG. 11 is an exploded perspective detailed view of the centralcolumn of the device of FIG. 1;

[0038]FIG. 12A is a side view of a first driven gear of the device ofFIG. 1;

[0039]FIG. 12B is a top view of the first driven gear of the device ofFIG. 1;

[0040]FIG. 13A is a side view of a first idler gear of the device ofFIG. 1;

[0041]FIG. 13B is a top view of the first idler gear of the device ofFIG. 1;

[0042]FIG. 14 is a side view of a wire brace assembly of theprecessional device of FIG. 1;

[0043]FIG. 15 is a perspective view of a central hub of the precessionaldevice of FIG. 1,

[0044]FIG. 16 is a sectional view of the device taken along line 16-16of FIG. 1;

[0045]FIG. 17A shows the device being employed by an operator toexercise in a direction directly out from the chest;

[0046]FIG. 17B shows the device being employed by an operator toexercise in an upward angled direction;

[0047]FIG. 17C shows the device being employed by an operator toexercise in a downward angled direction;

[0048]FIG. 18A shows a top view of the operator with the device in afirst operating position;

[0049]FIG. 18B shows a perspective cutaway view of the device with therotors in the first operating position;

[0050]FIG. 18C shows a top cutaway plan view of the device with therotors in the first operating position;

[0051]FIG. 19A shows a top view of the operator with the device in asecond operating position;

[0052]FIG. 19B shows a perspective cutaway view of the device with therotors in the second operating position;

[0053]FIG. 19C shows a top cutaway plan view of the device with therotors in the second operating position;

[0054]FIG. 20A shows a top view of the operator's hands in relation tothe forces acting on the device in a third operating position;

[0055]FIG. 20B shows a perspective cutaway view of the device with therotors in the third operating position;

[0056]FIG. 20C shows a top cutaway plan view of the device with therotors in the third operating position;

[0057]FIG. 21A shows a top view of the operator with the device in afourth operating position;

[0058]FIG. 21B shows a perspective cutaway view of the device with therotors in the fourth operation position;

[0059]FIG. 21C shows a top cutaway plan view of the device with therotors in the fourth operating position;

[0060]FIG. 22A shows a top view of the operator with the device in afifth operating position;

[0061]FIG. 22B shows a perspective cutaway view of the device with therotors in the fifth operating position;

[0062]FIG. 22C shows a top cutaway plan view of the device with therotors in the fifth operating position;

[0063]FIG. 23A shows a top view of the operator with the device in asixth operating position;

[0064]FIG. 23B shows a perspective cutaway view of the device with therotors in the sixth operating position;

[0065]FIG. 23C shows a top cutaway plan view of the device with therotors in the sixth operating position;

[0066]FIG. 24A shows a top view of the operator with the device in aseventh operating position;

[0067]FIG. 24B shows a perspective cutaway view of the device with therotors in the seventh operating position;

[0068]FIG. 24C shows a top cutaway plan view of the device with therotors in the seventh operating position;

[0069]FIG. 25A shows a top view of the operator with the device in aneighth operating position;

[0070]FIG. 25B shows a perspective cutaway view of the device with therotors in the eighth operating position;

[0071]FIG. 25C shows a top cutaway plan view of the device with therotors in the eighth operating position;

[0072]FIG. 26A shows a top view of the operator with the device back inthe first operating position and a cycle completed;

[0073]FIG. 26B shows a perspective cutaway view of the device with therotors back in the first operating position;

[0074]FIG. 26C shows a top cutaway plan view of the device with therotors back in the first operating position;

[0075]FIG. 27A illustrates the first and second rotors rotating in firstand second planes;

[0076]FIG. 27B shows a top cutaway view of the first rotor as ittransitions between the first position and the second position (forexample purposes) and rotating in a clockwise direction;

[0077]FIG. 27C shows a top cutaway view of the second rotor as ittransitions between the first position and the second position (forexample purposes) and rotating in a counterclockwise direction;

[0078]FIG. 27D shows a diagram of the torque about axis B generated bythe first and second rotors compared on the same graph over time;

[0079]FIG. 27E shows a diagram of the net torque about axis B generatedby the rotors and the operator on the same graph over time;

[0080]FIG. 27F shows a diagram of the torque about axis C generated bythe first and second rotors compared on the same graph over time:

[0081]FIG. 27G shows a diagram of the net torque about axis C generatedby the rotors and the operator on the same graph over time;

[0082] FIGS. 27H-27J disclose a method of operation of the precessionaldevice;

[0083]FIG. 28 is a sectional view of a second embodiment of theprecessional device shown in FIG. 1;

[0084]FIG. 29 shows the device being employed by an operator to exercisein a curling motion;

[0085]FIG. 30A shows the operator's hands in relation to the forcesacting on the device in a first location;

[0086]FIG. 30B shows an isometric cutaway view of the device with therotors in the first location;

[0087]FIG. 30C shows a top cutaway plan view of the device with therotors in the first location;

[0088]FIG. 31A shows the operator's hands in relation to the forcesacting on the device in the second location;

[0089]FIG. 31B shows an isometric cutaway view of the device with therotors in the second location;

[0090]FIG. 31C shows a top cutaway plan view of the device with therotors in the second location;

[0091]FIG. 32A shows the operator's hands in relation to the forcesacting on the device in the third location;

[0092]FIG. 32B shows an isometric cutaway view of the device with therotors in the third location;

[0093]FIG. 32C shows a top cutaway plan view of the device with therotors in the third location;

[0094]FIG. 33A shows the operator's hands in relation to the forcesacting on the device in the fourth location;

[0095]FIG. 33B shows an isometric cutaway view of the device with therotors in the fourth location;

[0096]FIG. 33C shows a top cutaway plan view of the device with therotors in the fourth location;

[0097]FIG. 34A shows the operator's hands in relation to the forcesacting on the device in the fifth location;

[0098]FIG. 34B shows an isometric cutaway view of the device with therotors in the fifth location;

[0099]FIG. 34C shows a top cutaway plan view of the device with therotors in the fifth location;

[0100]FIG. 35A shows a top cutaway plan view of the first rotor as ittransitions between the first and second location and rotating in aclockwise direction;

[0101]FIG. 35B shows a top cutaway plan view of the second rotor as ittransitions between the first and second location and rotating in acounter-clockwise direction;

[0102]FIG. 35C shows a diagram of the torque about the B axis generatedby the first and second rotors compared on the same graph over time;

[0103]FIG. 35D shows a diagram of the net torque about the B axisgenerated by the rotors and the operator on the same graph over time;

[0104]FIG. 35E shows a diagram of the torque about axis C generated bythe first and second rotors compared on the same graph over time;

[0105]FIG. 35F shows a diagram of the net torque about axis C generatedby the rotors and the operator on the same graph over time;

[0106]FIG. 36 illustrates a third embodiment of the precessional devicein a perspective view with the housing broken away to show internalstructure;

[0107]FIG. 37A shows a perspective view of a fourth embodiment of theprecessional device with the housing broken away to show internalstructure;

[0108]FIG. 37B shows a top plan view of the fourth embodiment of theprecessional device;

[0109]FIG. 37C shows a handcrank to be used with the fourth embodiment;

[0110]FIG. 37D shows a front perspective sectional view of the fourthembodiment of the precessional device taken along line 37-37 in FIG.37B;

[0111]FIG. 37E shows an exploded view of the fourth embodiment of theprecessional device;

[0112]FIG. 38A is a perspective view of a fifth embodiment of theprecessional device with the housing broken away to show internalstructure;

[0113]FIG. 38B is a top plan view of the fifth embodiment of theprecessional device;

[0114]FIG. 38C is a bottom perspective view of the fifth embodiment ofthe precessional device;

[0115]FIG. 38D is a sectional view of the fifth embodiment taken alongline 38-38 of FIG. 38B;

[0116]FIG. 39 is a perspective fragmentary view of a sixth embodiment ofthe precessional device illustrating an alternative hand crank assembly;

[0117] FIGS. 40A-40B are perspective fragmentary views of a seventhembodiment of the precessional device illustrating an electric starter;

[0118]FIG. 41 is a perspective view of an eighth embodiment of theprecessional device featuring flywheels with fins;

[0119]FIG. 42A is a perspective view of a ninth embodiment of theprecessional device featuring flywheels with detachable weights;

[0120]FIG. 42B is a perspective view of a detachable weight of the ninthembodiment;

[0121] FIGS. 43A-43C are views of the tenth embodiment of theprecessional device featuring expandable flywheels;

[0122]FIG. 44A is a perspective view of an eleventh embodiment of theprecessional device illustrating a braking mechanism;

[0123]FIG. 44B is a fragmentary view of the eleventh embodiment of theprecessional device illustrating in detail the braking mechanism;

[0124]FIG. 45 is a twelfth embodiment of the precessional devicefeaturing a monitoring device;

[0125]FIG. 46 discloses a thirteenth embodiment of the precessionaldevice featuring a modified axle tip;

[0126] FIGS. 47A-47B disclose a fourteenth embodiment of theprecessional device featuring an alternative modified axle tip;

[0127]FIG. 48 illustrates a top plan view of a fifteenth embodiment ofthe precessional device with detachable handles;

[0128]FIG. 49A illustrates a top plan view of a sixteenth embodiment ofthe precessional device mounted on a stand; and

[0129]FIG. 49B illustrates a perspective view of the sixteenthembodiment of the precessional device mounted on a stand.

DESCRIPTION OF THE PREFERRED EMBODIMENTS OF THE INVENTION

[0130] The precessional device 8 shown in FIG. 1 and FIG. 2 is a firstembodiment which includes a first housing 10 and a second housing 12,both of which provide structural support to the device and act asprotective shields for the internal mechanisms. The housings 10 and 12may be made of a thermoplastic to provide lightness and strength and maybe made transparent to allow the internal mechanisms to be visible tothe operator. FIG. 2 also shows a removable handcrank 9 which is used tostart the precessional device.

[0131]FIG. 3 illustrates the precessional device 8 with housings 10 and12 removed, each housing attaching directly to one of two, identical,stacked track assemblies 14 and 15. The handcrank 9 is inserted intocrank pin 13 and is then turned by the operator to start first andsecond rotors 120, 121 turning in opposite directions. When the firstand second rotors 120, 121 are at their operating speed the handcrank 9may be removed by the operator. FIG. 4A shows an exploded isometric viewof the precessional device 8. Housings 10 and 12 are attached to trackassemblies 14 and 15 through a plurality of bolts 11. The two trackassemblies 14 and 15 are rigidly locked together, a few inches apart, bya plurality of track supports 16 as shown in FIGS. 5A and 5B. The trackassemblies 14, 15 with supports 16 and handle brackets 18 form a supportstructure for axles 22 and 23. Track assembly 15 includes elements 15a-15 e which enclose race or channel 19 (shown in FIG. 3). A firstlaminate 15 b is attached to a first track half 15 a and a secondlaminate 15 d is attached to a second track half 15 e. Reference numeral15 c represents a spacer which divides the first laminate 15 b and thesecond laminate 15 d. FIG. 5C illustrates track assembly 15 in detail.Axle tips 23 a and 23 b of spin axle 23 travel in a circular pathbetween the first and second laminates 15 b and 15 d. The first trackhalf 15 a, the second track half 15 e, and the spacer 15 c may be madeof aluminum. The first and second laminates 15 b, 15 d may be replacedby using rubber O-rings or other similar materials. The choice ofmaterials used inside the first and second track halves 15 a, 15 e ispreferably selected to reduce the possibility that the speed of thespinning axles may cause the material to be burned out or cause the axletips 23 a and 23 b to skip within the track assembly 15. Axle tips 22 aand 22 b travel inside a race or channel 17 in track assembly 14 whichis composed similarly to track assembly 15.

[0132]FIG. 4A illustrates that handle brackets 18 are mounted to tracksupports 16 and support two handles 20 a-20 b diametrically alignedrelative to the planes of the track assemblies 14, 15. As discussedabove, the handle brackets 18 also assist in the support of the twotrack assemblies 14, 15. The handles 20 a-20 b are mounted to thebrackets 18 as shown in FIG. 6 so that they can freely rotate abouttheir lengthwise handle axes.

[0133] As further shown in FIGS. 3 and 4A, track assembly 14 provides afirst race or channel 17 into which the tips or distal ends 22 a and 22b of the axle 22 are supported when axle 22 is inserted diametricallyacross track assembly 14. The axle 22 will travel in a rotationalpattern around rotational axis A-A (as shown in FIG. 4B) within the race17. Axle 22 is a first spin axle which supports a first pair offlywheels 24 a and 24 b. FIGS. 7A and 7B show the flywheels 24 a and 24b mounted on the first axle 22 to form the first rotor 120. FIG. 7Cshows a detailed view of flywheel 24 a. Flywheels 24 a and 24 b aresubstantially identical in size and mass and are mounted and balanced onthe first axle 22. FIGS. 3 and 4A illustrate that track assembly 15provides the second race or channel 19 into which the tips 23 a and 23 bof second axle 23 may be supported when axle 23 is inserteddiametrically across track assembly 15. The axle 23 will travel in arotational pattern within the race 19 around rotational axis A-A in adirection opposite to that of axle 22. The reason for this will bediscussed in detail below. Axle 23 is a second spin axle which supportsa second set of flywheels 25 a and 25 b to form a second rotor 121.Flywheels 25 a and 25 b are substantially identical to flywheels 24 aand 24 b and are mounted and balanced in the same manner as flywheels 24a and 24 b. Flywheels 25 a and 25 b may be positioned farther apart onaxle 23 than corresponding flywheels 24 a and 24 b on axle 22. The widerspacing allows the overall height of the precessional device 8 to bemade more compact since the first and second rotors 120 and 121 mayrotate without colliding. Each of the flywheels 24 a-24 b and 25 a-25 b,given their fixed mass, are designed to maximize rotational inertiaabout their respective axles 22 and 23. The flywheels 24 a-24 b and 25a-25 b may be designed to use a dense material, such as metal,especially along the outer circumference to help maximize rotationalinertia. The rotational inertia of each of the first and second axles 22and 23, including respective flywheels, is substantially identical. FIG.4A further illustrates that axles 22 and 23 are supported by first yokemount assembly 54 and second yoke mount assembly 56 respectively.

[0134]FIG. 4B illustrates that both first and second axles 22 and 23rotate around rotational axis A-A. Axis B-B (first orthogonal axis) andaxis C-C (second orthogonal axis) are both orthogonal to the rotationalaxis A-A and orthogonal to each other. Axis CC runs substantiallythrough the center of each of the handles 20 a and 20 b (not shown inFIG. 4B). Axes D′-D′ and E′-E′ are the spin axes for rotors 120 and 121respectively. Axes D-D and E-E are substantially parallel to each otherand to axis C-C. Spin axis D′-D′ is canted with respect to axis D-D by anarrow angle α which is sufficient to keep axle tips 22 a and 22 b incontact with the laminates inside track assembly 14 (e.g., α may beapproximately 0.5 degrees). Spin axis E′-E′ is also canted by angle awith respect to axis E-E to keep axle tips 23 a and 23 b in contact withthe laminates 15 b and 15 d inside track assembly 15. Axles 22 and 23are positioned substantially along spin axes D′-D′ and E′-E′respectively. Angles D′-D′ and E′-E′ are canted with respect to axes D-Dand E-E to control the direction of rotation of the axles 22 and 23about D′-D′ and E′-E′ respectively. As will be discussed in furtherdetail below, axle tips 22 a-22 b and 23 a-23 b will be in contact withthe races 17 and 19 so that when the rotors 120 and 121 turn, frictionalcontact with the races 17 and 19 will begin to spin the axles 22 and 23.Axles 22 and 23 will begin to produce precessional forces that willallow operation of the device 8.

[0135]FIG. 8 illustrates the central column 50 which is substantiallyaligned with the rotational axis A-A around which rotors 120 and 121turn. Central column 50 includes a first yoke mount assembly 54, asecond yoke mount assembly 56, and a transmission 80. The first yokemount assembly 54 includes the first yoke 54 a and a first yoke mount 54b. The second yoke mount assembly 56 includes the second yoke 56 a and asecond yoke mount 56 b. Yokes 54 a and 56 a are, respectively, supportedin first yoke mount 54 b and second yoke mount 56 b. FIGS. 9 and 10A-10Bshow first yoke assembly 54 and yoke 54 a in detail. Screw 54 i, mountedin screw hole 54j, holds the first yoke 54 a in position. By adjustingscrews 54 d and 54 e in yoke holes 54 g and 54 h, the ends of yoke 54 amay be preloaded or canted off axis D-D and aligned with D′-D′ aspreviously discussed with respect to FIG. 4B. This, in turn, adjusts theposition of the axle tips 22 a-22 b within race 17 in track assembly 14.Second yoke 56 a and axle tips 23 a-23 b are adjusted in a similarmanner using screws 56 d and 56 e (as shown in FIG. 16). The first yokemount upper portion 54 f is supported by the bearing 71 a located in thebearing mount 70 a that is attached securely to the housing 10 (as shownin FIG. 4A). The second yoke mount 56 b is similarly attached to thebearing 71 b located in the bearing mount 70 b that is also attachedsecurely to the housing 12. Both mounts incorporate a plurality ofe-clips 72 to maintain stability.

[0136] Between the first and second yoke mounts 54 b and 56 b, andsolidly connected to both is the transmission 80 as shown in FIG. 8. Thefunction of the transmission 80 is to create a counter-rotating directconnection between the first and second yokes 54 a and 56 a and theaxles 22 and 23 they support. FIGS. 11-13B illustrate that thetransmission 80 is made up of two drive (or first) gears 82 a and 82 bthat are solidly connected to the first and second yoke mount assemblies54 and 56 and two idler (or second) gears 84 a and 84 b that passivelytransmit torque between the drive gears 82 a and 82 b. In the center ofthe transmission 80 is a central hub 86 that fixes the gears 82 a-82 band 84 a-84 b in place while allowing the gears 82 a-82 b and 84 a-84 bthe freedom to rotate as designed. The central hub 86 is connected tothe idler gears 84 a-84 b via e-clips 72 and first and second gear hubs88 a-88 b as shown in FIG. 11. The central hub 86 is connected to thedrive gears 82 a and 82 b via first and second sleeves 90 a and 90 b.The central hub 86 is also connected to first and second wire braceassemblies 92 and 93 as shown in FIG. 4A. Wire brace assemblies 92 and93 fix the orientation of the central hub 86. Wire brace assembly 92includes wire brace 92 a and wire brace mount 92 b. Wire brace assembly93 includes wire brace 93 a and wire brace mount 93 b. Each of the wirebraces 92 a, 93 b are solidly fixed to diametrically opposite tracksupports 16 through wire brace mounts 92 b and 93 b (as shown in FIGS. 3and 4A) and formed such that they will not interfere with the swept pathof the flywheels 24 a, 24 b as they rotate about the rotational axisA-A. A detailed view of the wire brace assembly 92 is shown in FIG. 14.FIG. 15 shows a perspective view of central hub 86. Reference numeral 86a represents a wire form hole to receive a stabilizing wire brace 92 aor 93 a; reference numeral 86 b represents a gear hub hole to receive agear hub; and reference numeral 86 c represents a sleeve hole to receivea sleeve. Holes 86 a, 86 b, and 86 c have corresponding holes on theother side of the hub 86 which are not shown.

[0137]FIG. 11 shows axle crank pin 13 which is attached to the bottom ofthe second yoke mount assembly 56 and which may receive the end of aremovable hand crank 9 (as shown in FIG. 2). When one of the drivengears 82 a or 82 b is turned, it causes the two idler gears 84 a and 84b, axially fixed in space due to the two wire braces 92 a and 93 b, torotate. The idler gears 84 a, 84 b, in turn, cause the other driven gear82 a or 82 b to rotate in an opposite direction to gear 82 a or 82 b.Gears 82 a-82 b and 84 a-84 b, have the same number of teeth (as shownin FIGS. 12A-13B) and therefore rotate substantially at the same rate.Due to the direct connections between driven gears 82 a and 82 b, yokemounts 54 a and 56 a and yokes 54 b and 56 b, rotation of one axle 22 or23 about the rotational axis A-A requires the counter-rotation of theother axle 22 or 23 about the rotational axis A-A.

[0138]FIG. 16 illustrates the precessional device in a startingposition. FIG. 16 is a sectional view along line 16-16 of FIG. 1. FIG.16 further illustrates that by adjusting the screws 54 d and 54 e thefirst axle 22 may be positioned so that one tip 22 a is pressing in onedirection in the track race 17 and one tip 22 b is pressing in theopposite direction in the track race 17. By adjusting the screws 56 dand 56 e the second axle 23 can be positioned so that one tip 23 a ispressing in one direction in the track race 19 and one tip 23 b ispressing in the opposite direction in the track race 19. Due to surfacefriction between the tips 22 a-22 b and 23 a-23 b of the axles 22 and 23and the races 17 and 19 rotation of the rotors 120 and 121 about theaxis rotational A-A induces spin of the axles 22, 23 about the spin axesD′-D′ and E′-E′. This spin includes the flywheels 24 a-24 b and 25 a-25b. Once again, the central column 50 allows each axle 22 and 23 to spinindependently about their respective spin axes. However, rotation aboutthe rotational axis A-A of one rotor is mechanically linked to thecounter-rotation of the other rotor about the same rotational axis A-A.Since the rotation about the A-A axis is driving the spin of theflywheels through frictional contact with races 17 and 19, the spin rateof each of the rotors 120 and 121, in absolute terms, is substantiallythe same at all times.

[0139] As shown in FIGS. 4B and 16, the axles 22 and 23 are assembled sothat they can align almost parallel (except for the canting by angle α)to the axis C-C running through handles 20 a and 20 b. The screws 54d-54 e and 56 d-56 e are set so that, in this first embodiment the axles22 and 23 are tilted or preloaded in the same direction so that they aresubstantially parallel to each other. In FIG. 16, the axle tips on theright side 22 a, 23 a are in contact with the first side of theirrespective races 17 and 19 while the axle tips 22 b, 23 b on the leftside of FIG. 16 are in contact with the second or opposite side of theirrespective races 17 and 19.

[0140] When the hand crank 9 is rotated in a clockwise direction (asshown in FIG. 2), the second axle 23 and second pair of flywheels 25a-25 b, which form the second rotor 121, begin to rotate in a clockwisedirection. This in turn causes the second axle 23 to spin due to thefrictional contact of the axle tips 23 a and 23 b with the race 19.Likewise the first axle 22 and first flywheels 24 a-24 b, which form thefirst rotor 120, begin to rotate in the opposite counter-clockwisedirection. This causes the first rotor axle 22 to spin axially as wellsince axle tips 22 a and 22 b are in frictional contact with race 17.

[0141] As the clockwise rotation of the hand crank 9 continues the firstand second rotors' spin 120, 121 continues to accelerate around bothspin axes D′-D′ and E′-E′. This motion continues with the second rotor121 rotating continually in a clockwise direction around first trackassembly 14 and the first rotor 120 rotating counter-clockwise aroundsecond track assembly 15. After one revolution of the hand crank 9, eachof the rotors 120 and 121 will have rotated once around each of theirrespective track assemblies 14 and 15. Assuming constant pressure on thecrank 9 by the operator, each successive revolution of the hand crank 9causes the rotors 120, 121 to spin faster and faster. (The precessionaldevice 8 might also be designed so that the hand crank 9 initiallyrotates in the counter clockwise direction).

[0142] A first method of operation of the first embodiment of theprecessional device 8 is illustrated with reference to FIGS. 16-26C.After manipulating the hand crank 9 and then optionally removing thehandcrank 9, the operator firmly grasps the precessional device 8 by thehandles 20 a-20 b as shown in FIGS. 17A-17C. After a few rotations ofthe hand crank 9, the axial spinning of the flywheels 24 a-24 b and 25a-25 b becomes great enough to cause a detectable precessional effect tooccur. Precession is the effect that a spinning mass exhibits when itsaxis of spin is deflected. In the precessional device 8, the two rotors120 and 121 represent two spinning masses with axes of spin D′-D′ andE′-E′. The law of precession states that if the spin axis of a spinningmass (i.e., flywheels 24 a-24 b and 25 a-25 b) is deflected by a torquethat is perpendicular to the spin axis, the mass will react with aprecessional torque that is perpendicular to both the spin axis and thedeflecting torque. In the case of precessional device 8, first andsecond deflecting torques D₁ and D₂ are provided by the operatorinitially through the hand crank 9 turning rotors 120 and 121 during thestartup time period and then during operation by the force of theoperator's arms against handles 20 a and 20 b which creates a thirddeflecting torque D₃ (deflecting torques D₁, D₂, and D₃ will bediscussed in further detail below).

[0143] In the precessional device 8, as explained, the first and secondrotors 120 and 121 each are “spinning masses.” Rotors 120, 121 each havetwo flywheels 24 a-24 b, 25 a-25 b mounted at different points on theirrespective axles to achieve a more compact design for the precessionaldevice 8. The pairs of flywheels are balanced and mounted such that eachof the rotors 120, 121 possess the same rotational inertia about theirspin axes D′-D′ and E′-E′. Rotational inertia may be explained asfollows. The inertia of each of the rotors 120, 121 about their spinaxes D′-D′ and E′-E′, is the sum of the moments of inertia of eachparticle of mass in the rotor. The moment of inertia of a particle withmass m, a distance r from a spin axis, is mr², and the total rotationalinertia of the rotor is mr_(avg) ². By concentrating the mass of therotors in the outer perimeter of the flywheels, the rotational inertiaabout the spin axes D′-D′ and E′-E′ may be maximized. A body is said tospin when all of its particles move in circles about a common axis witha common angular velocity (ω). As discussed above, torque applied so asto tend to change the axis about which a body is spinning results in aprecession effect. Precession is explained by one of Newton's Laws ofmotion which states: the time rate of change of angular momentum aboutany given axis is equal to the torque applied about the given axis. Theformula that defines the resultant torque is T=IωrΩ, where I is theinertia of the rotor about its spin axis, the longitudinal axis formedby the length of the axle and Ω is the rate of precession. It is abouteach of the precession spin axes D′-D′ and E′-E′ that the rotors 120,121 achieve a spin velocity sufficient enough to precess at a detectablemagnitude. By maximizing rotational inertia (I) about the spin axesD′-D′ and E′E′, a greater applied torque is needed to produce the samerate of precession, Ω. The position of the flywheels along the axis ofthe axle does not affect the distance r_(avg), and therefore has noeffect on the flywheels inertia with respect to the spin axis. Thus,assuming each flywheel is properly weighted and balanced the first rotor120 will have the same inertia about its spin axis as the second rotor121. Assuming they spin at the same rate, identically applied torqueswill produce identical precessional torques.

[0144] FIGS. 17A-17C show the precessional device 8 in three differentexemplary positions that it may be used for anaerobic and aerobicexercise. FIG. 17A shows the device 8 being pushed and pulled straightout from the chest and FIGS. 17B and 17C show the device 8 beingoperated at an angle with the same push/pull motion.

[0145]FIG. 17A shows the operator holding the precessional device 8 inaccordance with a typical method of operation. In this method ofoperation, the operator starts the rotors 120 and 121 moving with thehand crank 9 and then removes the hand crank 9 after the rotors 120, 121are up to speed. Next, the operator holds the device 8 in front of hisbody at chest level by the handles 20 a and 20 b with the right hand onhandle 20 a and the left hand on handle 20 b. In this method, theprecessional device 8 is used with the operator pushing out with onehand against a variable precessional force and pulling back with onehand against a variable precessional force. (From the perspective of theoperator grasping the handles 20 a and 20 b, the precessional torqueproduced by the device 8 is perceived as a force and it is thereforeconvenient to use the term “net precessional force” when specifying theresistance the operator is pushing or pulling against on the handles 20a and 20 b. NP_(R) will be used to indicate the net precessional forcethe operator feels acting on his right hand as he grasps handle 20 a andNP_(L) will be used to indicate the net precessional force the operatorfeels acting on his left hand as he grasps handle 20 b. “Totalprecessional torque” (TPT) will be used to indicate substantially thenet precessional torque acting on the device 8 during operation due tothe rotors 120 and 121).

[0146] The first operating position, as shown in FIG. 18A, has theoperator's right arm R holding the handle 20 a near the operator's bodyin a fully contracted position and the operator's left arm L holding thehandle 20 b in a fully extended position. As shown in FIGS. 18B and 18C,given the fixed equivalent moment of inertia (I) of each of the rotors120 and 121, the magnitude of the total precessional torque (TPT)produced by the device is determined by the rate of axial rotation ofaxes 22 and 23 in races 17 and 19. The direction of the totalprecessional torque (TPT) is determined by the orientation of adeflecting torque relative to the direction of the spinning masses,flywheels 24 a-25 b. As previously discussed, deflecting torques D₁ andD₂ (as shown in FIG. 18B) are initially produced by the operator'smanipulation of the crank 9 which deflects the spin axes D′-D′ and E′-E′of the axles 22 and 23 containing the flywheels 24 a-25 b. In turn, thedeflecting torque D₁ will produce precessional torque in rotor 120 thatexerts forces P22 a and P22 b through contact between the axle tips 22 aand 22 b and race 17 to the entire structure of the precessional device8. Deflecting torque D₂ will produce precessional torque in rotor 121that exerts forces P23 a and P23 b acting through contact between axletips 23 a and 23 b and race 19 to the entire structure of theprecessional device 8.

[0147] SP as shown in FIG. 18C indicates the starting point of axle tip22 a and will be used as a comparison point to locate the position ofaxle tip 22 a as it travels around race 17. (Note that SP is anarbitrary starting point and the device 8 may be started with the axles22 and 23 located in any orientation around the races 17 and 19). Atpoint SP, axle tip 22 a is at 0 degrees from the starting point. Sindicates the direction of spin of each of the flywheels 24 a-24 b and25 a-25 b.

[0148] In the first operating position as shown in FIG. 18A, theoperator is about to begin extending the right hand and pulling orcontracting with the left hand. An operator will have completed a fullstroke when the right arm R is fully extended and the left arm L isfully retracted. An operator will have completed a full cycle or twostrokes when the right arm is fully retracted back to the startingposition and the left arm L is fully extended back to the startingposition.

[0149] At the first operating position, the operator's right arm R iscontracted and his left arm L is extended. This position is a momentarystate of equilibrium where there are no substantial net forces beinggenerated by the device 8 or the operator. As illustrated by FIG. 18B,precessional forces P22 a, P23 a and P22 b, P23 b are approximatelyequal and in opposite directions so they will substanitally cancel eachother out. Therefore, the operator will not feel a net precessionalforce NP_(R) or NP_(L) the device 8 in either hand R or L.

[0150] FIGS. 19A-19C illustrate the second operating position with axletip 22 a at 45 degrees from the starting point SP. FIG. 19A shows theoperator's right arm R pushing against NP_(R) (net precessional force onright handle) with force F_(R) and a quarter of the way through astroke. At the second operating position, NP_(R) is equal to the sum ofP22 b and P23 a. FIG. 19A also shows the operator's left hand L pullingagainst NP_(L) (net precessional force on left handle) with force F_(L)and also a quarter of the way through a stroke. NP_(L) is equal to thesum of P23 a and P23 b.

[0151] FIGS. 20A-20C illustrate the third operating position with axletip 22 a at 90 degrees from starting point SP. FIG. 20A shows theoperator's right and left arms R, L at positions halfway through thestroke traveling in opposite directions. NP_(R) is at its maximumbecause P22 b and P23 a are adding with substantially no cancellationeffects and NP_(L) is also at its maximum because P22 a and P23 b arealso substantially adding with no cancellation effects. Therefore, theoperator is feeling maximum net precessional forces NP_(R) and NP_(L)against him in each arm at this operating position.

[0152] FIGS. 21A-21C illustrate the fourth operating position with axletip 22 a at 135 degrees from the starting point SP. In this position theright arm R is almost fully extended and the left hand is almost fullycontracted close to the body. NP_(R) is the sum of P22 b and P23 a andNP_(L) is the sum of P22 a and P23 b. NP_(R) and NP_(L) have bothweakened since the third operating position.

[0153] FIGS. 22A-22C illustrate the fifth operating position with axletip 22 a at 180 degrees from the starting point SP. In this position,the right hand R is fully extended and the left hand L is fullyretracted close to the body. NP_(R) and NP_(L) are both substantiallyzero due to the canceling effect of P22 a, P23 a and P23 a, P23 b.Likewise, the operator is exerting substanitally no force at this pointof equilibrium. In this position the operator has completed a first fullstroke and is about to begin a second full stroke.

[0154] FIGS. 23A-23C illustrate the sixth operating position with axletip 22 a at 225 degrees from the starting point SP. In this position,the right arm R is pulling against precessional force NP_(R) with forceF_(R) and the left hand is pushing against precessional force NP_(L)with force F_(L). NP_(R) is equal to P22 a summed with P23 b and NP_(L)is equal to P22 b summed with P23 a (not shown in FIG. 23B).

[0155] FIGS. 24A-24C illustrate the seventh operating position with axletip 22 a at 270 degrees from the starting point SP. In this position,the right arm R is pulling against maximum precessional force NP_(R) offorce F_(R) and the left arm L is pushing against maximum precessionalforce NP_(L) with force F_(L). NP_(R) is equal to P22 b summed with P23b and NP_(L) is equal to P22 a summed with P23 a.

[0156] FIGS. 25A-25C illustrate the eighth operating position with axletip 22 a at 315 degrees from the starting point SP. In this position,the right arm R is pulling against a lessening precessional force NP_(R)with force F_(R) and the left arm L is pushing against a lesseningprecessional force NP_(L) with force F_(L). NP_(R) is equal to P22 bsummed with P23 b and NP_(L) is equal to P22 a summed with P23 a.

[0157] FIGS. 26A-26 c illustrate the ninth and final operating positionwith the axle tip 22 a at 360 degrees. This is the same point ofequilibrium as the first operating position and the operator hasfinished the second stroke and also completed a full cycle.

[0158]FIG. 27A illustrates a conceptual drawing of the three-dimensionalspace bounded by the device 8. The space is primarily defined by threeaxes A-A, B-B and C-C. The origin of the space is fixed as the centralpoint of the transmission 86. (The transmission 86 is not shown in theconceptual view). The origin lies equidistant between the two races 17and 19 which are shown forming two circular rotational planes 17′ and19′ in FIG. 27A. As previously discussed, the axis defined by the firstspinning axis 22 is labeled D′-D′. The axis defined by the secondspinning axis 23 is labeled E′-E′. FIG. 27B shows a top plan view of thefirst rotor 120 as it transitions between the first and second operatingpositions (corresponding to FIGS. 18A-19C) and the rotation of axisD′-D′ in relation to axes B-B and C-C. FIG. 27C shows a top plan view ofthe second rotor 121 as it transitions between the first and secondoperating position and the rotation of axis E′-E′ in relation to axesB-B and C-C (with first rotor 120 not shown).

[0159]FIG. 27D shows a graph illustrating the precessional torques aboutthe B-B axis (T_(B)) due to axle 22 (D′) and axle 23 (E′) plotted overtime (t). The graph shows three complete cycles or revolutions of theaxles 22 and 23 about axis A-A. The precessional torque due to axles 22and 23 are substantially equal and complementing each other. Beginningwith time t=0, the graph shows a sinusoidal wave with three completecycles; each delineated top portion of the wave where T_(B)>0 representthe rotor 120 as it transitions from operating position 1 to 5 and thebottom portions of the wave where TB<0 represent the device 8 as ittransitions from operating positions 5 back to 1. Therefore, when theoperator is performing a push/pull routine the precessional torque aboutthe B axis will provide a variable resistance.

[0160]FIG. 27E shows a graph illustrating the net torques produced aboutaxis BB (T_(B)). The sum of the torques produced by axles 22 and 23 isthe total precessional torque (TPT). The graph shows that the amplitudeof the input of the operator which is deflecting torque D₃ issubstantially equal to the output of the device 8 and the two are in anopposite phase relationship meaning that the output of one counteractsthe output of the other. Disregarding the effects of surface frictionand aerodynamic drag on the device 8, if the operator's deflectingtorque D₃ and the total precessional torque (TPT) were equal it wouldresult in the device 8 having no oscillating motion and the rotors 120,121 would maintain a constant angular velocity. Since the moving partsof the device 8 do experience energy loss from surface friction andaerodynamic drag, in order to maintain constant velocity of the rotors120, 121, the operator must exert a force F_(R) that is greater thanNP_(R) and F_(L) that is greater than NP_(L). As a result, the operatoreffectively exerts a torque equivalent to the difference between F_(R)and NP_(R) multiplied by half the distance between the handles 20 a and20 b (torque equals force times length of lever arm) and a torqueequivalent to the difference between F_(L) and NP_(L) multiplied by halfthe distance between the handles 20 a and 20 b. This torque will bedeflecting torque D₃, and it opposes the total precessional torque TPT.Whereas deflecting torques D₁ and D₂ deflect rotors 120 and 121respectively, D₃ deflects both rotors 120 and 121. D₃ causes rotor 120to produce a precessional torque that is aligned with D₁ and causesrotor 121 to produce a precessional torque that is aligned with D₂. Inthis fashion, the operator's manipulation of the handles 20 a and 20 baccomplishes the same result in accelerating the rotation of the rotorsabout the A-A axis that manipulation of the hand crank 9 initially did.

[0161]FIG. 27F shows a graph illustrating the precessional torques aboutthe C-C axis (T_(D)) due to axle 22 (D′) and axle 23 (E′) plotted overtime (t). The torques due to axles 22 and 23 cancel each other as shownby the total precessional torque about the C-C axis (TPT) in FIG. 27G.TPT and D₃ are substantially zero about the C axis as shown by the flatline graphs. FIGS. 27E and 27G demonstrate that the input and outputtorques (D₃ and TPT) oscillate or vary substantially along one dimensiononly (the axis B-B). Whereas FIGS. 27D and 27F show the torque from eachrotor 120 and 121 varying about both axes B-B and C-C, the totalprecessional torque (TPT) oscillates only about axis B-B. This featureof the precessional device 8 allows the operator to obtain a controlled,variable resistance exercise routine.

[0162] FIGS. 27H-27J disclose a method of operation of the firstembodiment. The operator turns the hand crank 9 in a first step 150.Simultaneously in steps 152 and 154 deflecting torques D1 and D2 arecreated by the turning of the hand crank 9. In steps 156, 158 deflectingtorques D1 and D2 drive rotors 120, 121 around rotational axis A-A. Insteps 160, 162 axle tips 22 a-22 b and 23 a-23 b are frictionally drivenby coming into contact with races 17 and 19 of track assemblies 14 and15. In steps 164, 166 rotors 120 and 121 spin axially and generateprecessional torques which are orthogonal to the rotational direction ofthe rotors. In steps 168, 170 axle tips 22 a, 22 b, 23 a and 23 b pressagainst track assemblies 14 and 15 with precessional forces P22 a, P22b, P23 a and P23 b, respectively. At step 172, a decision is madewhether rotors 120 and 121 are generating sufficient torque. If not, theoperator will repeat the cranking of the hand crank 9. If the rotors 120and 121 are generating enough torque to begin a workout the operatorwill remove the crank 9 in step 174. Rotors 120 and 121 continue toprecess in step 176 due to angular momentum. In the next step 178, theoperator grasps precessional device 8 by handles 20 a and 20 b. In step180, the operator perceives precessional forces P22 a, P22 b, P23 a andP23 b as varying net precessional forces NP_(L) and NP_(R) at handles 20a and 20 b. In step 182, the operator exerts forces F_(R) and F_(L)against net precessional forces NP_(R) and NP_(L). In step 184, theforces F_(R) and F_(L) applied by the operator are compared to the netprecessional forces NP_(R) and NP_(L). If the net precessional forcesNP_(R) and NP_(L) are greater than the operator's applied forces F_(R)and F_(L), the rotors 120 and 121 decrease (step 186) and the operatorwill have to input greater force to maintain the intensity of theexercise routine. Third deflecting torque D₃ is applied by the operatoron rotors 120 and 121 (step 188). Rotor 120 will generate a precessionalequivalent to D₁ and rotor 121 will generate a precessional torquesubstantially equivalent to D₂ (step 190). Rotors 120 and 121 continueto accelerate and the operator performs the exercise routine (192).

[0163]FIG. 28 shows a second embodiment of the precessional device 8shown in FIG. 1. In the second embodiment, the precessional device 8 isadjusted so that an exercise involving a curling motion with the armscan be performed. Essentially, whereas the total precessional torque(TPT) oscillated or varied about axis B-B in the first embodiment, thetotal precessional torque (TPT) oscillates about axis C-C in the secondembodiment. The adjustment is made by adjusting the screws 56 d and 56 eas shown in FIG. 28 so that axle 23 tilts opposite to the direction ofthe first method of operation as shown in FIG. 16. By changing the tiltof the axle 23 and thereby changing the direction of the deflectingtorque D₃ provided by the operator, the precessional force will also bechanged from the first method of operation.

[0164]FIG. 29 discloses an operator using the precessional device 8 toperform a curling exercise. The device 8 will function similarly to thefirst method of operation except for the direction of the precessionalforces felt at the handles 20 a and 20 b.

[0165] FIGS. 30A-30C show the device 8 in a first location or startingposition. After starting the device using the hand crank 9, the operatoragain grasps the precessional device 8 by handles 20 a and 20 b. Theprecessional torques are canceling each other about the axis B-B andaxis C-C. The device is at a momentary state of equilibrium and theoperator is about to begin the stroke upwards.

[0166] FIGS. 31A-31C show the device in a second location and theoperator has completed a quarter of a stroke.

[0167] FIGS. 32A-32C show the device in a third location and theoperator has completed half of a stroke.

[0168] FIGS. 33A-33C show the device in a fourth location and theoperator has completed three quarters of a full stroke.

[0169] FIGS. 34A-34C show the device in a fifth location and theoperator has completed a full stroke and half of a cycle. To complete afull cycle the operator will return the device 8 to the startingposition.

[0170]FIG. 35A shows a top plan view of the first rotor 120 as ittransitions between the first and second location and the rotation ofaxis D′-D′ in relation to axes C-C and B-B. FIG. 35B shows a top planview of the second rotor 121 and axis E′-E′ as they transition betweenthe first and second locations with first rotor 120 removed. FIG. 35Cshows the torques about axis B-B due to axle 22 (D′) and axle 23 (E′)canceling each other out. The sum of the torques due to axle 22 and axle23 is shown by total precessional torque (TPT) in FIG. 35D, and thetorque generated by the operator along axis B-B is identified as D₃ asbefore. FIG. 35E illustrates the torques of the axles 22 and 23 aboutthe C axis. As can be seen from the graph, the torques due to axle 22(D′) and that due to axle 23 (E′) are complementary. FIG. 35F shows thetotal precessional torque TPT and D₃ compared over time as in FIG. 35D.FIGS. 35C-35F illustrate that TPT and D₃ oscillate or are variable aboutAxis C-C in the second embodiment, whereas they oscillated about axisB-B in the first embodiment.

[0171]FIG. 36 illustrates a perspective view of a third embodiment ofthe precessional device which is labeled 200. In this embodiment, theprecessional device 200 features an alternative method of configuringthe tracks. Whereas the first embodiment uses two tracks verticallyaligned about a central rotational axis, the third embodiment 200discloses two tracks that are concentric and coplanar to obtain a morecompact device. However, the third embodiment operates based on the sameprinciples as the first and second embodiments. The third embodimentalso employs a pair of handles, a start-up mechanism and enclosure (notshown) similar to the first and second embodiments.

[0172]FIG. 36 discloses an outer track assembly 215 including a race 217in which axles 222 a and 222 b rotate. The opposite end of axle 222 a ismounted in bearings 232. The opposite end of axle 222 b is also mountedin bearings (not shown). Mounted on axles 222 a and 222 b are outerflywheels 225 a and 225 b. Flywheel 225 a is mounted on the first outeraxle 222 a and flywheel 225 b is mounted on the second outer axle 222 b.Located on inner axle 223 are inner flywheels 224 a and 224 b. Inneraxle 223 travels inside race 219 in track assembly 214. Support arm 230provides structural stability to outer axes 222 a and 222 b. Support arm230 is attached to a central transmission 235 which allows the firstrotor 240 to rotate in a counter-clockwise direction and the secondrotor 242 to rotate in a clockwise direction. Bearings 237 connect thetransmission to 235 batteries 233. Batteries 233 provide an alternativemethod of starting the device besides using a handcrank. Note that wirebrace assemblies used to support the transmission 235 and a supportingdevice for track assembly 214 are not shown. Due to the differentdiameter of the outer and inner track assemblies 214 and 215, thediameter of the outer and inner axles must vary in the same proportionso that the inner and outer flywheels 224 a, 224 b and 225 a, 225 b spinat the same rate. The method of operation of the third embodiment willbe very similar to that of the first and second embodiments.

[0173] FIGS. 37A-37E disclose a fourth embodiment 300 of theprecessional device in which the track assemblies 314 and 315 arenon-concentric and coplanar. Attached to the precessional devices arehandles 320. In the center of the track assembly 314 is rotor 324. Rotor324 spins on axle 322. Rotor tips 322 a and 322 b are frictionallydriven inside race 360. Axle 322 is attached to bearings 334 c and 335 cwhich turn inside support assemblies 334 and 335, respectively. Supportassembly 334 is attached to plate portion 330 a of a first circular gear330 through attachment pieces 334 a and 334 b. Support assembly 335 isattached to plate portion 330 b of the first circular gear 330 throughattachment pieces 335 a and 335 b. In the center of track assembly 315is rotor 325. Rotor 325 spins on axle 323. Axle tips 323 a and 323 b arefrictionally driven inside race 361. Axle 323 is attached to bearings336 c and 337 c which turn inside support assemblies 336 and 337,respectively.

[0174] The fourth embodiment 300 operates on the same principles as thefirst and second embodiments. A hand crank as shown in FIG. 37C isinserted into pin hole 340 in FIG. 37A and is used to start the secondcircular gear 332 turning. Second gear 332 in turn causes first circulargear 330 to rotate. As the circular gears 330, 332 turn, the axle tips322 a, 322 b, 323 a, and 323 b are frictionally driven by coming intocontact with the races 360 and 361. In turn, rotors 324 and 325 beginturning. The total precessional torque produced by the rotors 224 and225 will then buildup a variable resistance. The method of operation ofthe fourth embodiment will be similar to that of the first and secondembodiments.

[0175] FIGS. 38A-38D disclose a fifth embodiment 900 which features analternative method of designing the rotors. However, the fifthembodiment will also operate on the same principles as the first andsecond embodiments. The fifth embodiment 900 includes a first rotor 926made up of a single flywheel 924 mounted on an axis 922 and a secondrotor 927 made up of a pair of flywheels 925 a and 925 b mounted on axis923. Single flywheel 924 has the equivalent mass of both flywheels 925 aand 925 b together. The coordinated counter-rotation of the first rotor926 about the central rotational axis AA-AA is controlled by first andsecond perimeter transmissions 921 a and 921 b driven between first andsecond track assemblies 918 and 919 respectively. Track assemblies 918and 919 are separated by supports 916 and handle assemblies 920. Thefirst and second perimeter transmissions 921 a and 921 b are started bya hand crank (not shown). As they rotate in track assemblies 918 and919, axle tips 922 a and 922 b are frictionally driven within race 930.As axis 922 is turned, flywheel 924 turns. The first and secondperimeter transmissions also cause axis tips 923 a and 923 b to befrictionally driven within race 932. As axes 923 is turned, flywheels925 a and 925 b are also turned. The axis tips 923 a and 923 b arecanted using a plurality of screws 954 to set the direction of rotationof the axis 923. Similarly to the first embodiment, the operator graspsthe handle assemblies 920 and opposes the net precessional torquecreated by the rotors 926 and 927 to perform a variable resistanceworkout.

[0176]FIG. 39 discloses a sixth embodiment which is similar to the firstembodiment except that it has an alternative hand crank assembly 400.Crank assembly 400 shows a crank pin 420 that is connected to a bearing422 which turns a first crank gear 426. First crank gear 426 interactswith second crank gear 428 which turns third crank gear 432. Third crankgear 432 turns a fourth crank gear 434 which turns the transmission 86(not shown) of the first embodiment. Hand crank assembly 400 allows fora lesser degree of force to be used by the operator when starting up theprecessional device.

[0177] FIGS. 40A-40B disclose a seventh embodiment which featuresanother means of starting the rotation of the rotors of the precessionaldevice 8 of the first embodiment. Whereas the first embodiment uses ahand crank, the seventh embodiment 500 illustrates an electric motordriving the transmission 86 (not shown) of the first embodiment througha plurality of gears. A motor 510 turns a first gear 514 which turns asecond gear 518. In turn, third gear 520 is turned by the second gear518. Fourth gear 516 is turned by the third gear 520. Fourth gear 516 isconnected to the transmission 86 of the first embodiment. The use ofdifferent sized gears allows for increase in the output torque of themotor 510. The motor 510, driven by rechargeable batteries 513 and 514,is activated when the operator presses a button (not shown). Also, whenthe user is operating the device, the motor can act as an electricgenerator by converting a portion of the kinetic energy of the systeminto electricity to recharge the batteries.

[0178]FIG. 41 discloses an eighth embodiment which shows a flywheel 700with fins 712. The fins 712 will allow increased air flow in theprecessional device 8 to provide cooling and reduce the possibility ofdamage to the device from being operated at too high a rate.

[0179] FIGS. 42A-42B show a ninth embodiment featuring a flywheel 800which allows its moments of inertia to be adjusted manually. In thisembodiment, the flywheel 800 has removable weights 810 mounted on shafts812 through shaft holes 813 located inside the rim 814 of the flywheel.The flywheel 800 has weights that are removable so that sets offlywheels with different radii or different masses can be used in thesame device.

[0180] FIGS. 43A-43C disclose a tenth embodiment 1000 which featuresalternative flywheels 1001 a-1001 b and 1002 a-1002 b that automaticallyincrease their rotational inertia as the rotational velocity increasesthrough an expanding radii. FIG. 43A discloses axes 1004 and 1006rotating inside track assemblies (not shown) of the first embodiment.Mounted on axes 1004 and 1006 are the alternative flywheels 1001 a-1001b and 1002 a-1002 b in a contracted position. FIG. 43B shows thealternative flywheels 1001 a-1001 b and 1002 a-1002 b in the expandedposition. FIG. 43C shows the components of the alternative flywheel 1001a. Surrounding axis 1004 is a spring 1010 which provides a compressionforce pushing flanges 1011 and 1012 apart. Connected to flange 1011 arepins 1016 and 1020 which connect to portions 1011 a and 1011 b of flange1011. Similarly connected to flange 1012 are pins 1014 and 1018 whichare connected to portions 1012 a and 1012 b of flange 1012. Connectingpins 1014 and 1016 is weighted button 1023 and connecting pins 1018 and1020 is weighted button 1022. A starting configuration is shown in FIG.43A with the flywheels 1001 a-1001 b and 1002 a-1002 b in theircontracted position. As the speed of the spinning axis 1004 picks up,the flywheel 1001 a expands to the fully expanded positions as shown inFIG. 43B. As the buttons 1022 and 1023 spin faster, they exert acentrifugal force radially outward, which forces flanges 1011, 1012together, thereby compressing the spring 1010. Using flywheel 1001 a asan example, as the speed of the spinning axis 100 increases further, theflywheel 1001 a expands to a maximum position and maximum rotationalinertia. As the spinning axis 1004 decreases, the flywheel 1001 a willreturn to its contracted position as shown in FIG. 43A. The compressiondynamics of the spring 1010 can be tailored to effect flywheel 1001 awith the desired dynamic rotational inertia. The tenth embodiment offersthe operator an automatic mechanism for adjusting the rotational inertiaof the rotors providing at least three benefits: 1) at startup therotors' rotational inertia is minimized to facilitate startup, 2) athigh operational speeds, the rotors' inertia is maximized to increaseintensity of the exercise, and 3) the attributes of the compressionspring can be tailored to produce the dynamic relationship between speedand inertia that is desired.

[0181] FIGS. 44A-44B illustrate an eleventh embodiment which modifiesthe first embodiment by incorporating a braking mechanism 1060 thatstops the rotation of the flywheels 25 a and 25 b when the user wishesto discontinue using the device. When the device is lifted off asurface, braking mechanism 1060 will rest on the floor of the lowerhousing 12. Extension springs 1062 will act on the braking mechanism1060 to force prongs 1061 through housing holes 1063. When the device 8is placed on the surface, the braking mechanism 1060 will be retractedback into the lower housing 12 and contact the flywheels 25 a and 25 b.The flywheels 25 a and 25 b will be stopped causing axles 22,transmission 86, and axle 23 to also stop.

[0182]FIG. 45 illustrates a twelfth embodiment of the precessionaldevice with monitoring equipment 1100. The monitoring equipment 1100includes an LCD display 1110 powered by a battery (not shown). Themonitoring equipment 1100 is electrically connected through wire 1114 tosensor 1116. Information displayed may include, for example, currentrotations per minute (RPM), time, force and calories burned.

[0183]FIG. 46 discloses a thirteenth embodiment which features analternative method of providing frictional contact between the axle tip1200 of axis 22 and track race 17. The axle tip 1200 is coated with amaterial such as polyurethane, rubber or other synthetic or metallicmaterial.

[0184] FIGS. 47A-47B disclose a fourteenth embodiment which featuresaxle tip 1300 a of axle 22 capped by a beveled gear and a track 1300 bcomprised of a beveled surface that allows for positive rolling contactbetween the axle tip 1300 a and track 1300 b without slippage. The axletip will travel ideally between two tracks 1300 b and 1300 c.

[0185]FIG. 48 discloses a fifteenth embodiment 1400 which featureshandles 1410 a and 1410 b that are removable. The handles 1410 a and1410 b may be removed to adjust for different grip positions withdifferent angles and widths to work different muscle groups. Removableor adjustable handles offer the operator a greater range of choices forexercising. By adjusting the handles 90 degrees each as shown, theoperator effectively adjusts the device from the first embodiment to thesecond embodiment or from the second embodiment to the first embodiment.No adjustment of any screws is necessary. Removable handles alsofacilitates storage and portability.

[0186] FIGS. 49A-49B disclose a sixteenth embodiment 1700 featuringpedal attachments 1720 a and 1720 b attached to housing 1710 containingthe rotors (not shown). The housing 1710 is mounted on a stand 1730.

[0187] The precessional device embodiments herein disclosed are able toproduce tremendous forces, limited only by the practical limits to thespeed of the rotors, all in a small, lightweight package. This allowsthe precessional devices to be compact to facilitate storage,portability and use.

[0188] As precessional devices, they may be designed to be hand held,This allows the precessional device to be used in a variety of methods,and allows the operator to switch from one method to another quickly andeasily.

[0189] As precessional devices, they allow the operator to have completecontrol over the speed, and resulting level of variable resistance, ofthe exercise.

[0190] As precessional devices, the scientific and somewhat complexnature of their operation is an engaging and entertaining activity towitness and master. This makes the exercise activity more enjoyable andeffective.

[0191] As precessional devices, the intensity of the workout is directlylinked to the highly visual and audible stimulus of the rotating andspinning rotors. This direct audiovisual feedback helps to monitor andpsychologically reinforce the exercise.

[0192] As auto-precessional devices, the rotors' rotation and spin arelinked through a simple contact between axle and track that reduces thecost and complexity of the device.

[0193] Further applications for the precessional device enclosed hereincould include everything from automobile wiper blade motors toindustrial brushing motors to the agitator motors found on many consumerand commercial washing machines.

[0194] The foregoing is to be understood as being in every respectillustrative and exemplary, but not restrictive, and the scope of theinvention disclosed herein is not to be determined from the DetailedDescription, but rather from the claims as interpreted according to thefull breadth permitted by the law. It is to be understood that theembodiments shown and described herein are only illustrative of theprinciples of the present invention and that various modifications maybe implemented by those skilled in the art without departing from thescope and spirit of the invention.

1. An apparatus comprising: a first rotor spinning about a first spin axis and rotating around a rotational axis; and a second rotor spinning about a second spin axis and rotating around the rotational axis.
 2. The apparatus of claim 1 , wherein said first and second rotors rotate in opposite directions.
 3. The apparatus of claim 1 , wherein said first rotor produces precessional torques about first and second orthogonal axes; and said second rotor produces precessional torques about said first and second orthogonal axes.
 4. The apparatus of claim 3 , wherein said precessional torques substantially reinforce each other about the first orthogonal axis.
 5. The apparatus of claim 4 , wherein said precessional torques substantially cancel about the second orthogonal axis.
 6. The apparatus of claim 1 , wherein said first rotor produces precessional torques about first and second orthogonal axes; said second rotor produces precessional torques about first and second orthogonal axes; and said precessional torques provide a variable torque about the first orthogonal axis.
 7. The apparatus of claim 6 , wherein said first and second orthogonal axes and said rotational axis are each orthogonal to the other two axes.
 8. The apparatus of claim 1 , further comprising: a hand crank to start the first and second rotors rotating.
 9. The apparatus of claim 8 , wherein said hand crank is connected to a plurality of gears which turn the first and second rotors.
 10. The apparatus of claim 1 , further comprising: an electric motor to start the first and second rotors rotating.
 11. The apparatus of claim 1 , further comprising: first and second flywheels mounted on said first rotor; and wherein said first and second flywheels include fins.
 12. The apparatus of claim 1 , further comprising: first and second flywheels mounted on said first rotor; and wherein said first and second flywheels include at least one removable weight.
 13. The apparatus of claim 1 , further comprising: first and second flywheels mounted on said first rotor; and wherein said first and second flywheels are expandable.
 14. The apparatus of claim 1 , further comprising: first and second flywheels mounted on said first rotor; third and fourth flywheels mounted on said second rotor; and a braking mechanism which in a first position is separated from said third and fourth flywheels and in a second position is in contact with said third and fourth flywheels.
 15. The apparatus of claim 1 , further comprising: a first track assembly which supports rotations of said first rotor; a sensor mounted on said first track assembly; and monitoring equipment which is electrically connected to said sensor.
 16. The apparatus of claim 1 , further comprising: a first track assembly which supports rotation of said first rotor; and said first rotor further including first rotor axle tips which spin due to frictional contact with said first track assembly.
 17. The apparatus of claim 16 , wherein said first rotor axle tips are coated with material from a group consisting of polyurethane, rubber, or a metallic material.
 18. The apparatus of claim 16 , further comprising: a first track assembly which supports rotation of said first rotor and includes a beveled surface; and said first rotor further including first rotor axle tips which are capped by beveled gears and which travel inside said beveled surface of said first track assembly.
 19. The apparatus of claim 1 , further comprising: a plurality of housings; and at least one handle attached to at least one of said housings said handle being adjustable.
 20. The apparatus of claim 1 , further comprising: a plurality of handles that may be adjusted by 90 degrees.
 21. An apparatus comprising: a first rotor spinning about a first spin axis; a second rotor spinning about a second spin axis; said first rotor rotating inside a first track assembly; and said second rotor rotating inside a second track assembly.
 22. The apparatus of claim 21 , wherein said first and second track assemblies are coplanar.
 23. The apparatus of claim 21 , wherein said first and second track assemblies are located adjacent to each other.
 24. The apparatus of claim 21 , further comprising: a first circular gear mounted on said first track assembly; and a second circular gear mounted on said second track assembly.
 25. An apparatus comprising: a first rotor spinning on a first spin axis; a second rotor spinning on a second spin axis; said first rotor rotating inside a first track assembly; said second rotor rotating inside a second track assembly; and wherein the first and second axes are on substantially the same plane.
 26. The apparatus of claim 25 , wherein said first and second track assemblies are concentric.
 27. The apparatus of claim 25 , wherein said first and second track assemblies are coplanar.
 28. The apparatus of claim 25 , wherein said second rotor spins on a plurality of axles.
 29. The apparatus of claim 25 , wherein said first rotor includes a pair of flywheels and said second rotor includes a pair of flywheels.
 30. An apparatus comprising: a first rotor spinning on a first spin axis; said first rotor including first and second flywheels; and said first rotor rotating inside a support structure.
 31. The apparatus of claim 30 , further comprising: a second rotor spinning on a second spin axis; said second rotor including third and fourth flywheels; and said second rotor rotating inside said support structure.
 32. The apparatus of claim 31 , further comprising: a central column located on a rotational axis; and wherein said first and second rotors rotate in opposite directions about said rotational axis.
 33. The apparatus of claim 31 , further comprising: a transmission coupled to said first and second rotors.
 34. The apparatus of claim 33 , wherein said transmission includes at least one idler gear and at least one drive gear.
 35. The apparatus of claim 30 , further comprising at least one handle.
 36. The apparatus of claim 30 , wherein said first spin axis is canted with respect to the first axis.
 37. The apparatus of claim 36 , wherein said second spin axis is canted off of a second axis.
 38. The apparatus of claim 30 , wherein said first and second axes are orthogonal to a rotational axis.
 39. The apparatus of claim 30 , wherein the first and second flywheels are more closely spaced on the first rotor than the third and fourth flywheels on the second rotor.
 40. The apparatus of claim 30 , wherein the first and second rotors have the same moment of inertia.
 41. The apparatus of claim 30 , wherein said support structure includes a first and second track.
 42. An apparatus comprising: a first rotor spinning on a first spin axis and rotating inside a first track assembly; and a second rotor spinning on a second spin axis and rotating inside a second track assembly.
 43. An apparatus comprising: a first rotor spinning on a first spin axis; a second rotor spinning on a second spin axis; and a transmission operatively connected to said first and second rotors.
 44. The apparatus of claim 43 , wherein said transmission transmits a torque to said first rotor.
 45. The apparatus of claim 43 , further comprising: a first yoke supporting said first rotor; and a second yoke supporting said second rotor.
 46. The apparatus of claim 43 , wherein said transmission includes a plurality of gears connected to a central hub; and said central hub is positioned by a plurality of wire braces.
 47. The apparatus of claim 43 , wherein said first rotor includes a spin axle and at least one flywheel; and wherein said spin axle is preloaded with a canting angle inside a yoke mount assembly.
 48. The apparatus of claim 47 , wherein said yoke mount assembly includes a pair of screws; and wherein said pair of screws cant the spin axle.
 49. The apparatus of claim 43 , wherein said first rotor includes at least one flywheel and said second rotor includes at least two flywheels.
 50. A precessional exercise device comprising: a first rotor spinning on a first spin axis and a second rotor spinning on a second spin axis; said first rotor including first and second flywheels; said second rotor including third and fourth flywheels; said first and second rotors rotating inside a support structure; wherein said support structure includes first and second circular tracks; a central column aligned with a rotational axis; and wherein said first and second rotors rotate in opposite directions about said rotational axis.
 51. An apparatus comprising: a means for inputting a deflecting torque; and a means for substantially reinforcing precessional torques about a first axis and substantially canceling precessional torques about a second axis.
 52. An apparatus comprising: a first means for producing precessional torques about a first axis and a second axis; a second means for producing precessional torques about said first axis and said second axis; and wherein said precessional torques substantially add along said first axis and substantially cancel along said second axis.
 53. An apparatus comprising: a first means for producing precessional torques along a first axis and a second axis; a second means for producing precessional torques along said first axis and a second axis; and wherein said precessional torques create a variable resistance along said first axis.
 54. An apparatus comprising: a first means for producing a plurality of precessional forces acting on a first track assembly; a second means for producing a plurality of precessional forces acting on a second track assembly; wherein said first and second track assemblies are connected to form a support structure; a plurality of handles mounted to the support structure; and wherein said precessional forces created by said first and second means create a variable resistance at said plurality of handles.
 55. A method comprising: inputting a deflecting torque through a plurality of handles to a precessional device; and pulling and pushing against a variable torque produced by said precessional device along one axis.
 56. A method comprising: rotating a first rotor around a rotational axis in a first direction; rotating a second rotor around said rotational axis in a second direction; and wherein said first and second directions are opposite.
 57. A method comprising: rotating a first rotor around a track assembly; rotating a second rotor around a second track assembly attached to said first track assembly; and creating a variable resistance along one dimension.
 58. A method comprising: rotating a first spin axle containing a plurality of flywheels around a first track assembly; rotating a second spin axle containing a plurality of flywheels around a second track assembly in an opposite direction; and outputting a variable resistance along a first axis and substantially canceling forces acting along a second axis.
 59. A method comprising: inputting a first deflecting torque to a first rotor rotating in a first direction and a second deflecting torque to a second rotor rotating in a second direction within a support structure; and grasping handles attached to said support structure and inputting a third deflecting torque against a variable resistance provided by the first and second rotors.
 60. The method of claim 59 , wherein said third deflecting torque causing said first and second rotors to accelerate.
 61. The method of claim 60 , wherein said first and second rotors produce precessional torque that substantially reproduce said first and second deflecting torques. 